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MAVLinkInterface: make getParamList targetable
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@meee1
meee1 committed Dec 16, 2017
1 parent ffbcf21 commit 0d4ac8b
Showing 1 changed file with 25 additions and 24 deletions.
49 changes: 25 additions & 24 deletions Mavlink/MAVLinkInterface.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -537,7 +537,7 @@ 4. Try a diffrent usb port\n\n" +
frmProgressReporter.UpdateProgressAndStatus(0,
"Getting Params.. (sysid " + MAV.sysid + " compid " + MAV.compid + ") ");

getParamListBG();
getParamList(MAV.sysid,MAV.compid);
}

if (frmProgressReporter.doWorkArgs.CancelAcknowledged == true)
Expand Down Expand Up @@ -1137,14 +1137,14 @@ public void getParamList()

void FrmProgressReporterGetParams(object sender, ProgressWorkerEventArgs e, object passdata = null)
{
getParamListBG();
getParamList(MAV.sysid, MAV.compid);
}

/// <summary>
/// Get param list from apm
/// </summary>
/// <returns></returns>
private Dictionary<string, double> getParamListBG()
public Dictionary<string, double> getParamList(byte sysid, byte compid)
{
giveComport = true;
List<int> indexsreceived = new List<int>();
Expand All @@ -1155,8 +1155,8 @@ private Dictionary<string, double> getParamListBG()
int param_total = 1;

mavlink_param_request_list_t req = new mavlink_param_request_list_t();
req.target_system = MAV.sysid;
req.target_component = MAV.compid;
req.target_system = sysid;
req.target_component = compid;

generatePacket((byte) MAVLINK_MSG_ID.PARAM_REQUEST_LIST, req);

Expand All @@ -1173,7 +1173,7 @@ private Dictionary<string, double> getParamListBG()

do
{
if (frmProgressReporter.doWorkArgs.CancelRequested)
if (frmProgressReporter != null && frmProgressReporter.doWorkArgs.CancelRequested)
{
frmProgressReporter.doWorkArgs.CancelAcknowledged = true;
giveComport = false;
Expand Down Expand Up @@ -1205,12 +1205,12 @@ private Dictionary<string, double> getParamListBG()
{
if (!indexsreceived.Contains(i))
{
if (frmProgressReporter.doWorkArgs.CancelRequested)
if (frmProgressReporter != null && frmProgressReporter.doWorkArgs.CancelRequested)
{
frmProgressReporter.doWorkArgs.CancelAcknowledged = true;
giveComport = false;
frmProgressReporter.doWorkArgs.ErrorMessage = "User Canceled";
return MAV.param;
return MAVlist[sysid, compid].param;
}

// prevent dropping out of this get params loop
Expand All @@ -1219,8 +1219,8 @@ private Dictionary<string, double> getParamListBG()
queued++;

mavlink_param_request_read_t req2 = new mavlink_param_request_read_t();
req2.target_system = MAV.sysid;
req2.target_component = MAV.compid;
req2.target_system = sysid;
req2.target_component = compid;
req2.param_index = i;
req2.param_id = new byte[] {0x0};

Expand Down Expand Up @@ -1277,8 +1277,9 @@ private Dictionary<string, double> getParamListBG()
if (indexsreceived.Contains(par.param_index))
{
log.Info("Already got " + (par.param_index) + " '" + paramID + "' " + (indexsreceived.Count * 100) / param_total);
this.frmProgressReporter.UpdateProgressAndStatus((indexsreceived.Count*100)/param_total,
"Already Got param " + paramID);
if (frmProgressReporter != null)
this.frmProgressReporter.UpdateProgressAndStatus(
(indexsreceived.Count * 100) / param_total, "Already Got param " + paramID);
continue;
}

Expand All @@ -1290,7 +1291,7 @@ private Dictionary<string, double> getParamListBG()

//Console.WriteLine(DateTime.Now.Millisecond + " gp2a ");

if (MAV.apname == MAV_AUTOPILOT.ARDUPILOTMEGA)
if (MAVlist[sysid,compid].apname == MAV_AUTOPILOT.ARDUPILOTMEGA)
{
var offset = Marshal.OffsetOf(typeof(mavlink_param_value_t), "param_value");
newparamlist[paramID] = new MAVLinkParam(paramID, BitConverter.GetBytes(par.param_value), MAV_PARAM_TYPE.REAL32, (MAV_PARAM_TYPE)par.param_type);
Expand All @@ -1307,12 +1308,12 @@ private Dictionary<string, double> getParamListBG()
if (par.param_index != 65535)
indexsreceived.Add(par.param_index);

MAV.param_types[paramID] = (MAV_PARAM_TYPE) par.param_type;
MAVlist[sysid, compid].param_types[paramID] = (MAV_PARAM_TYPE) par.param_type;

//Console.WriteLine(DateTime.Now.Millisecond + " gp3 ");

this.frmProgressReporter.UpdateProgressAndStatus((indexsreceived.Count*100)/param_total,
Strings.Gotparam + paramID);
if(frmProgressReporter != null)
this.frmProgressReporter.UpdateProgressAndStatus((indexsreceived.Count*100)/param_total,Strings.Gotparam + paramID);

// we hit the last param - lets escape eq total = 176 index = 0-175
if (par.param_index == (param_total - 1))
Expand All @@ -1331,19 +1332,19 @@ private Dictionary<string, double> getParamListBG()
if (logdata.ToLower().Contains("copter") || logdata.ToLower().Contains("rover") ||
logdata.ToLower().Contains("plane"))
{
MAV.VersionString = logdata;
MAVlist[sysid, compid].VersionString = logdata;
}
else if (logdata.ToLower().Contains("nuttx"))
{
MAV.SoftwareVersions = logdata;
MAVlist[sysid, compid].SoftwareVersions = logdata;
}
else if (logdata.ToLower().Contains("px4v2"))
{
MAV.SerialString = logdata;
MAVlist[sysid, compid].SerialString = logdata;
}
else if (logdata.ToLower().Contains("frame"))
{
MAV.FrameString = logdata;
MAVlist[sysid, compid].FrameString = logdata;
}
}
//stopwatch.Stop();
Expand All @@ -1370,10 +1371,10 @@ private Dictionary<string, double> getParamListBG()
}
giveComport = false;

MAV.param.Clear();
MAV.param.TotalReported = param_total;
MAV.param.AddRange(newparamlist);
return MAV.param;
MAVlist[sysid, compid].param.Clear();
MAVlist[sysid, compid].param.TotalReported = param_total;
MAVlist[sysid, compid].param.AddRange(newparamlist);
return MAVlist[sysid, compid].param;
}

private int _parampoll = 0;
Expand Down

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